Lecturer(s)
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Course content
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1. Complex and dual numbers 2. Extension of complex numbers to quaternions 3. Dual quaternions 4. Kinematics in space 5. Direct and indirect congruencies 6. Basic movements in space - translation, rotation, screw motion 7. Serial robots, manipulators 8. Parallel robots, platforms 9. Direct and back kinematics 10. Kinematics of serial robots 11. Kinematics of parallel robots
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Learning activities and teaching methods
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Monologic (reading, lecture, briefing), Laboratory
- Class attendance
- 42 hours per semester
- Preparation for classes
- 40 hours per semester
- Preparation for exam
- 18 hours per semester
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Learning outcomes
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Throughout the course, students familiarize with data structures that are used to describe movement of robots in space. Later, basics of spatial kinematics - direct and indirect congruency and basic types of movements in space - are talked over. Differences between direct and back kinematics of robots are explained. Terms parallel and serial robot are defined and than the calculation of direct and back kinematics for both groups of robots is presented.
Student learns the basic knowledge of kinematic of the robots. Direct and back kinematic an differential kinematic. He gets knowledge about any math structure as are quaternion and dual numbers.
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Prerequisites
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The course lead into problematic of kinematic of the robots. It is recommended knowledge of Linear algebra (matrix calculus) Analysis (partials derivative) and Geometry (Euclid space)
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Assessment methods and criteria
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Oral examination, Interim evaluation
Active participation in seminars (80%) Working-out task. Passing the written test.
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Recommended literature
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HUSTY, M., KARGER, A., SACHS, H., STEINHILPER, W.Kinematik und Robotik. Berlin, Heidelberg: Springer Berlin Heidelberg, 1997. ISBN 978-364-2590-290.
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KARGER, Adolf. Základy robotiky a prostorové kinematiky. 1. vyd. Praha: Vydavatelství ČVUT, 2000, 265 s. ISBN 80-010-2183-1.
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